CN111671519A - Ultrasonic image calibration system and calibration method - Google Patents

Ultrasonic image calibration system and calibration method Download PDF

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CN111671519A
CN111671519A CN202010541695.XA CN202010541695A CN111671519A CN 111671519 A CN111671519 A CN 111671519A CN 202010541695 A CN202010541695 A CN 202010541695A CN 111671519 A CN111671519 A CN 111671519A
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coordinate system
measuring equipment
ultrasonic
probe
intersection points
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CN111671519B (en
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赵磊
刘宝国
龙小虎
解焕南
张勤俭
李海源
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Symbow Medical Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

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Abstract

The invention relates to a calibration system and a calibration method of an ultrasonic image, which are characterized by comprising a calibration model, measuring equipment, an ultrasonic probe, a probe tracer and a computer, wherein the calibration model is a cover-free cubic groove body; imaging liquid is placed in the cubic groove; a plurality of parallel lines are correspondingly arranged in the cubic groove body corresponding to each two opposite side walls of the cubic groove body, and intersection points of the parallel lines are generated; a characteristic point set capable of being identified by measuring equipment is arranged on the outer side of the cubic groove body; the ultrasonic probe is fixedly provided with a probe tracer which can be identified by measuring equipment, and the ultrasonic probe is used for acquiring an ultrasonic image including an intersection point in the calibration model; the measuring equipment is used for measuring the position and the orientation of the probe tracer and the characteristic point set; the computer is used for determining the coordinate relationship between the ultrasonic image acquired by the ultrasonic probe and the probe tracer, and the invention can be widely applied to the technical field of medical instruments.

Description

Ultrasonic image calibration system and calibration method
Technical Field
The invention relates to a calibration system and a calibration method of an ultrasonic image, belonging to the technical field of medical instruments.
Background
Every year, more than 20 ten thousand cases of percutaneous minimally invasive biopsy and ablation interventional therapy of tumors exist, but the positioning precision of the traditional percutaneous minimally invasive surgery mode is low, and the biopsy misdiagnosis rate and the treatment recurrence rate are relatively high. At present, the positioning accuracy is often improved by using image-guided surgery navigation systems such as CT, MRI, ultrasound, and the like in clinic, and the ultrasound image-guided surgery navigation systems are increasingly used due to their advantages such as good real-time performance, high safety, no ionizing radiation, and the like. However, as with other image-guided surgical navigation systems, the ultrasound image-guided surgical navigation system needs to calibrate the coordinates of the ultrasound image under the surgical navigation system in advance.
At present, a commonly used ultrasound image calibration method includes an N-line model method, and specifically, when an ultrasound probe scans an N-line model, 3 bright spots are generated on an ultrasound image, after coordinates of the three bright spots are manually or automatically identified, a 3D coordinate of an intersection point of an N-line and an imaging plane in a designed coordinate system is calculated by combining distance ratios among the three bright spots and design parameters of a calibration model, and then calibration of the ultrasound image is completed by measuring a same target in an ultrasound image coordinate system and a measurement device coordinate system. However, in this calibration method, since the ultrasonic imaging plane is not an ideal geometric plane, the imaging of the N-shaped line is not a point but a line, and the shape is identified manually or automatically with a large error and uncertainty, which results in a decrease in calibration accuracy.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a calibration system and a calibration method for an ultrasound image, which can improve calibration accuracy and increase calibration speed.
In order to achieve the purpose, the invention adopts the following technical scheme: a calibration system of an ultrasonic image comprises a calibration model, measuring equipment, an ultrasonic probe, a probe tracer and a computer, wherein the calibration model is a cover-free cubic groove body; imaging liquid is placed in the cubic groove; a plurality of parallel lines are correspondingly arranged in the cubic groove body corresponding to each two opposite side walls of the cubic groove body, and a parallel line intersection point is generated; a characteristic point set which can be identified by the measuring equipment is arranged on the outer side of the cubic groove body; the ultrasonic probe is fixedly provided with the probe tracer which can be identified by the measuring equipment, and is used for acquiring an ultrasonic image including an intersection point in the calibration model; the measuring equipment is used for measuring the position and the orientation of the probe tracer and the characteristic point set; and the computer is used for determining the coordinate relationship between the ultrasonic image acquired by the ultrasonic probe and the probe tracer according to the ultrasonic image of the ultrasonic probe, the measurement data of the measurement equipment and the known position relationship between the feature point set and the intersection point of the parallel lines.
Furthermore, three parallel lines A1, A2 and A3 are arranged between one group of opposite side walls of the cubic groove body, two parallel lines B1 and B2 are arranged between the other group of opposite side walls, a line B1 intersects with a line A1 and a line A2 to generate two parallel line intersection points P1 and P2, a line B2 intersects with a line A3 to generate a parallel line intersection point P3, the three parallel line intersection points P1, P2 and P3 are located in the same vertical plane, and a triangle formed by taking the three intersection points as vertexes is an unequal-waisted triangle.
Further, the measuring device adopts an optical measuring device or an electromagnetic measuring device.
Furthermore, wave-absorbing materials are attached to the inner wall of the cubic groove body.
Furthermore, parallel lines arranged in the cubic groove body adopt nylon lines, hemp ropes or metal wires.
Further, the imaging liquid in the cubic tank body adopts clear water or imaging liquid compatible with ultrasonic.
A calibration method of an ultrasonic image comprises the following steps: 1) establishing a world coordinate system based on the measuring equipment; 2) arranging a characteristic point set capable of being identified by measuring equipment on the outer side of the cubic groove body, determining a position matrix of a coordinate system of the characteristic point set under the coordinate system of the measuring equipment, and knowing the position relation between the characteristic point set and an intersection point of parallel lines in a calibration model; 3) the computer determines a position matrix of the parallel line intersection point coordinate system under the coordinate system of the measuring equipment according to the known position relation and the position matrix of the feature point set coordinate system under the coordinate system of the measuring equipment; 4) placing the calibration model in a detection area of the measuring equipment; 5) fixedly arranging a probe tracer on an ultrasonic probe, arranging the ultrasonic probe in a detection area of measuring equipment, and immersing the lower part of the ultrasonic probe in imaging liquid of a cubic groove body; 6) moving the ultrasonic probe until all the intersection points of the parallel lines can be imaged under the ultrasonic condition, and acquiring an ultrasonic image in the calibration model by the ultrasonic probe; 7) and keeping the ultrasonic probe still, and determining the coordinate of any point in the ultrasonic image in the coordinate system of the probe tracer by the computer according to the position matrix of the parallel line intersection point coordinate system in the coordinate system of the measuring equipment and the position matrix of the probe tracer in the coordinate system of the measuring equipment.
Further, the specific process of step 3) is as follows: 3.1) the coordinates of the parallel line intersection points under the characteristic point set coordinate system are respectively
Figure BDA0002539096650000021
And
Figure BDA0002539096650000022
recording the position matrix of the characteristic point set coordinate system under the coordinate system of the measuring equipment by the computer
Figure BDA0002539096650000023
And according to the position matrix
Figure BDA0002539096650000024
Determining the coordinates of the three parallel line intersections P1, P2 and P3 in the coordinate system of the measuring device
Figure BDA0002539096650000025
Comprises the following steps:
Figure BDA0002539096650000026
Figure BDA0002539096650000027
Figure BDA0002539096650000028
3.2) taking a parallel line intersection point P2 as an origin, taking parallel line intersection points P2 and P1 as x axes, and taking parallel line intersection points P2 and P3 as y axes, establishing a parallel line intersection point coordinate system:
Figure BDA0002539096650000029
Figure BDA00025390966500000210
Vz＝Vx×Vy
wherein, VzIs a VxAnd VyCalculating the cross product VzDirection perpendicular to VxAnd VyThe plane is in accordance with the principle of a right-hand coordinate system; 3.3) the computer determines a position matrix of the coordinate system of the parallel line intersection point under the coordinate system of the measuring equipment according to the coordinate system of the parallel line intersection point
Figure BDA0002539096650000031
Comprises the following steps:
Figure BDA0002539096650000032
wherein the content of the first and second substances,
Figure BDA0002539096650000033
and
Figure BDA0002539096650000034
the values of the coordinates of the parallel line intersection point P2 in the measuring device on the x, y and z components, respectively; vxxThe projection length of the x axis in the coordinate system formed by the intersection points of the three parallel lines in the x axis direction in the coordinate system of the measuring equipment; vyxThe y axis in the coordinate system formed by the intersection points of the three parallel lines is in the coordinate system of the measuring equipmentThe projection length in the x-axis direction; vzxThe projection length of the z axis in the coordinate system formed by the intersection points of the three parallel lines in the x axis direction in the coordinate system of the measuring equipment; vxyThe projection length of the x axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment; vyyThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment; vzyThe projection length of the z axis in the y axis direction in the coordinate system of the measuring equipment in the coordinate system formed by the intersection points of the three parallel lines; vxzThe projection length of the x axis in the coordinate system formed by the intersection points of the three parallel lines in the z axis direction in the coordinate system of the measuring equipment; vyzThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the z axis direction in the coordinate system of the measuring equipment; vzzThe projection length of the z-axis in the coordinate system formed by the intersection points of the three parallel lines in the z-axis direction in the coordinate system of the measuring equipment.
Further, the specific process of step 6) is as follows: 6.1) moving the ultrasonic probe until all the intersection points of the parallel lines can be imaged under the ultrasonic condition; 6.2) fine-tuning the ultrasonic probe so that the intersection point of all the parallel line intersection points is located at the midpoint of the ultrasonic image, and the parallel line intersection point P2 and the parallel line intersection point P1 are coincident with a pre-drawn auxiliary horizontal line; 6.3) at the moment, the ultrasonic probe acquires an ultrasonic image in the calibration model.
Further, the specific process of step 7) is as follows: 7.1) keeping the ultrasonic probe still, and recording the position matrix of the probe tracer under the coordinate system of the measuring equipment by the computer at the moment
Figure BDA0002539096650000035
7.2) the computer determines the position matrix in the coordinate system of the measuring device according to the coordinate system of the parallel line intersection point
Figure BDA0002539096650000036
Determining the coordinates of any point (U, V) in the acquired ultrasound image in the coordinate system of the measuring device
Figure BDA0002539096650000037
Figure BDA0002539096650000038
Wherein, UCentreHalf the horizontal resolution of the ultrasound image; vCentreHalf the vertical resolution of the ultrasound image; the FOVu is the size of each pixel in the horizontal direction in the ultrasonic image; FOVv is the size of each pixel in the vertical direction in the ultrasonic image; 7.3) the computer is used for measuring the coordinates of any point (U, V) in the ultrasonic image under the coordinate system of the measuring equipment
Figure BDA0002539096650000041
And the position matrix of the probe tracer in the coordinate system of the measuring equipment
Figure BDA0002539096650000042
Determining the coordinates of any point (U, V) in the ultrasound image in the probe tracer coordinate system
Figure BDA0002539096650000043
Figure BDA0002539096650000044
Wherein the content of the first and second substances,
Figure BDA0002539096650000045
as a position matrix
Figure BDA0002539096650000046
The inverse matrix of (c).
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the calibration model is simple in design and easy to manufacture, and the dimensional accuracy of the cubic groove body of the calibration model can be ensured by adopting a conventional processing method.
2. The invention adopts a mode of imaging by three intersection points, has high imaging precision and easy image segmentation, can further realize automatic identification and is easy to identify.
3. In the invention, only one unknown quantity exists, namely the position relation between the probe tracer and the ultrasonic image, so that the complexity of the algorithm in the prior art is reduced, and the calibration speed can be accelerated.
4. The wave absorbing material can be attached to the interior of the cubic groove body of the calibration model, so that the influence of the echo of ultrasonic waves can be effectively prevented, the imaging quality is improved, and the calibration model can be widely applied to the technical field of medical instruments.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The present invention is described in detail below with reference to the attached drawings. It is to be understood, however, that the drawings are provided solely for the purposes of promoting an understanding of the invention and that they are not to be construed as limiting the invention.
As shown in fig. 1, the system for calibrating an ultrasound image provided by the present invention includes a calibration model 1, a measuring device 2, an ultrasound probe 3, a probe tracer 4 and a computer 5.
The calibration model 1 is a cover-free cubic tank body, and imaging liquid is placed in the cubic tank body; the ultrasonic probe 3 imaging device is characterized in that a plurality of parallel lines are correspondingly arranged in the cubic groove body corresponding to every two opposite side walls of the cubic groove body, and corresponding parallel line intersection points are generated, wherein three parallel lines A1, A2 and A3 are arranged between one group of opposite side walls, two parallel lines B1 and B2 are arranged between the other group of opposite side walls, a line B1 is intersected with a line A1 and a line A2 to generate two intersection points P1 and P2, a line B2 is intersected with a line A3 to generate an intersection point P3, the three parallel line intersection points P1, P2 and P3 are positioned in the same vertical plane for facilitating imaging of the ultrasonic probe, and a triangle formed by taking the three parallel line intersection points as vertexes is an unequal waist straight-angle triangle.
The outer side of the cubic tank is provided with a feature point set M which can be identified by the measuring device 2.
The ultrasonic probe 3 is fixedly provided with a probe tracer 4 which can be identified by the measuring equipment 2, and the ultrasonic probe 3 is used for acquiring an ultrasonic image including the intersection points P1, P2 and P3 in the calibration model 1.
The measurement device 2 is used to make position and orientation measurements of the probe tracer 4 and the set of feature points M.
The computer 5 is used for determining the coordinate relationship between the ultrasonic images acquired by the ultrasonic probe 3 and the probe tracer 4 according to the ultrasonic images of the ultrasonic probe 3 and the measurement data of the measuring device 2 and the known position relationship between the feature point set M and the intersection points P1, P2 and P3.
In a preferred embodiment, the parallel lines arranged in the cubic groove body can adopt nylon lines, hemp lines or metal lines.
In a preferred embodiment, the inner wall of the cubic groove can be attached with wave-absorbing materials.
In a preferred embodiment, the imaging liquid in the cubic tank body can adopt clear water or imaging liquid compatible with ultrasonic.
In a preferred embodiment, the measuring device 2 may be an optical measuring device or an electromagnetic measuring device.
In a preferred embodiment, the feature point set M is a structural feature that meets the requirements of the measuring device 2, the material composition and shape of which depend on the different measuring devices 2.
Based on the calibration system of the ultrasonic image, the invention also provides a calibration method of the ultrasonic image, which comprises the following steps:
1) a world coordinate system is established on the basis of the measuring device 2.
2) A characteristic point set M which can be identified by the measuring equipment 2 is arranged on the outer side of the cubic groove body, and a position matrix of a coordinate system of the characteristic point set M under the coordinate system of the measuring equipment 2 is determined
Figure BDA0002539096650000051
And the position relation between the feature point set M and three parallel line intersection points P1, P2 and P3 in the calibration model 1 is known.
3) The computer 5 is used for calculating a position matrix of the characteristic point set M in the coordinate system of the measuring equipment 2 according to the known position relation and the known position matrix
Figure BDA0002539096650000052
Determining the position of the parallel intersection point coordinate system under the coordinate system of the measuring device 2Matrix array
Figure BDA0002539096650000053
The method specifically comprises the following steps:
3.1) the coordinates of the parallel line intersection points under the characteristic point set M coordinate system are respectively
Figure BDA0002539096650000054
And
Figure BDA0002539096650000055
the computer 5 records the position matrix of the characteristic point set M under the coordinate system of the measuring equipment 2 as
Figure BDA0002539096650000056
And according to the position matrix
Figure BDA0002539096650000057
Determining the coordinates of the three parallel line intersections P1, P2 and P3 in the coordinate system of the measuring device
Figure BDA0002539096650000058
Comprises the following steps:
Figure BDA0002539096650000059
Figure BDA00025390966500000510
Figure BDA00025390966500000511
3.2) taking a parallel line intersection point P2 as an origin, taking parallel line intersection points P2 and P1 as x axes, and taking parallel line intersection points P2 and P3 as y axes, establishing a parallel line intersection point coordinate system:
Figure BDA00025390966500000512
Figure BDA00025390966500000513
Vz＝Vx×Vy(6)
wherein, VzIs a VxAnd VyCalculating the cross product VzDirection perpendicular to VxAnd VyThe plane of the device conforms to the principle of a right-hand coordinate system.
3.3) the computer 5 determines a position matrix of the coordinate system of the parallel line intersection point under the coordinate system of the measuring equipment 2 according to the coordinate system of the parallel line intersection point
Figure BDA0002539096650000061
Comprises the following steps:
Figure BDA0002539096650000062
wherein the content of the first and second substances,
Figure BDA0002539096650000063
and
Figure BDA0002539096650000064
the values of the coordinates of the parallel line intersection point P2 in the measuring device 2 on the x, y and z components, respectively; vxxThe projection length of the x axis in the coordinate system of the measuring device 2 in the x axis direction in the coordinate system formed by the intersection points of the three parallel lines; vyxThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the x axis direction in the coordinate system of the measuring equipment 2; vzxThe projection length of the z axis in the coordinate system formed by the intersection points of the three parallel lines in the x axis direction in the coordinate system of the measuring equipment 2; vxyThe projection length of the x axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment 2; vyyThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment 2; vzyThe projection length of the z axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment 2; vxzThe projection length of the x-axis in the coordinate system formed by the intersection points of the three parallel lines in the z-axis direction in the coordinate system of the measuring device 2；VyzThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the z axis direction in the coordinate system of the measuring equipment 2; vzzThe projection length of the z-axis in the coordinate system of the measuring device 2 in the z-axis direction in the coordinate system formed by the intersection points of the three parallel lines.
4) The calibration phantom 1 is placed in the detection area of the measuring device 2.
5) The probe tracer 4 is fixedly arranged on the ultrasonic probe 3, the ultrasonic probe 3 is arranged in a detection area of the measuring equipment 2, and the lower part of the ultrasonic probe 3 is immersed in the imaging liquid of the cubic groove body.
6) The ultrasonic probe 3 is moved until all the intersection points of the parallel lines can be imaged under the ultrasonic, and at the moment, the ultrasonic probe 3 acquires an ultrasonic image in the calibration model 1, which specifically comprises the following steps:
6.1) moving the ultrasound probe 3 until all the intersections of the parallel lines can be imaged under ultrasound.
6.2) fine-tune the ultrasound probe 3 so that the intersection point P2 of the three parallel line intersection points P1, P2 and P3 is located at the midpoint of the ultrasound image, and the parallel line intersection point P2 and the parallel line intersection point P1 coincide with the auxiliary horizontal line drawn in advance.
6.3) the ultrasound probe 3 now acquires the ultrasound image within the calibration model 1.
7) Keeping the ultrasonic probe 3 still, and the computer 5 according to the parallel line intersection point coordinate system, determining the position matrix of the measuring device 2 in the coordinate system
Figure BDA0002539096650000065
And a position matrix of the probe tracer 4 in the coordinate system of the measuring device 2
Figure BDA0002539096650000066
Determining the coordinates of any point (U, V) in the ultrasonic image under the coordinate system of the probe tracer 4
Figure BDA0002539096650000067
The method specifically comprises the following steps:
7.1) keeping the ultrasonic probe 3 still, the computer 5 records the position matrix of the probe tracer 4 under the coordinate system of the measuring equipment 2 at the moment
Figure BDA0002539096650000071
7.2) computer 5 based on the coordinate system of the parallel intersection point, a position matrix in the coordinate system of measuring device 2
Figure BDA0002539096650000072
Determining the coordinates of any point (U, V) in the acquired ultrasound image in the coordinate system of the measuring device 2
Figure BDA0002539096650000073
Figure BDA0002539096650000074
Wherein, UCentreHalf the horizontal resolution of the ultrasound image; vCentreHalf the vertical resolution of the ultrasound image; the FOVu is the size of each pixel in the horizontal direction in the ultrasonic image; FOVv is the size of each pixel in the ultrasound image in the vertical direction.
7.3) the computer 5 coordinates any point (U, V) in the ultrasound image in the coordinate system of the measuring device 2
Figure BDA0002539096650000075
And a position matrix of the probe tracer 4 in the coordinate system of the measuring device 2
Figure BDA0002539096650000076
Determining the coordinates of any point (U, V) in the ultrasonic image under the coordinate system of the probe tracer 4
Figure BDA0002539096650000077
Figure BDA0002539096650000078
Wherein the content of the first and second substances,
Figure BDA0002539096650000079
is a positionMatrix array
Figure BDA00025390966500000710
The inverse matrix of (c).
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims (10)

1. The ultrasonic image calibration system is characterized by comprising a calibration model, measuring equipment, an ultrasonic probe, a probe tracer and a computer, wherein the calibration model is an uncovered cubic groove body;
imaging liquid is placed in the cubic groove; a plurality of parallel lines are correspondingly arranged in the cubic groove body corresponding to each two opposite side walls of the cubic groove body, and a parallel line intersection point is generated; a characteristic point set which can be identified by the measuring equipment is arranged on the outer side of the cubic groove body;
the ultrasonic probe is fixedly provided with the probe tracer which can be identified by the measuring equipment, and is used for acquiring an ultrasonic image including an intersection point in the calibration model;
the measuring equipment is used for measuring the position and the orientation of the probe tracer and the characteristic point set;
and the computer is used for determining the coordinate relationship between the ultrasonic image acquired by the ultrasonic probe and the probe tracer according to the ultrasonic image of the ultrasonic probe, the measurement data of the measurement equipment and the known position relationship between the feature point set and the intersection point of the parallel lines.
2. The system for calibrating an ultrasonic image as claimed in claim 1, wherein three parallel lines a1, a2 and A3 are arranged between one set of opposite side walls of the cubic tank, two parallel lines B1 and B2 are arranged between the other set of opposite side walls, two parallel line intersection points P1 and P2 are generated when the line B1 intersects with the line a1 and the line a2, one parallel line intersection point P3 is generated when the line B2 intersects with the line A3, the three parallel line intersection points P1, P2 and P3 are located in the same vertical plane, and a triangle formed by the three intersection points as vertexes is an unequal-waisted right-angle triangle.
3. The system for calibrating ultrasound images as claimed in claim 1, wherein said measuring device is an optical measuring device or an electromagnetic measuring device.
4. A system for calibrating an ultrasonic image according to any one of claims 1 to 3, wherein wave-absorbing material is attached to the inner wall of the cubic groove.
5. A calibration system for ultrasonic images according to any one of claims 1 to 3, wherein parallel lines arranged in the cubic groove are made of nylon, hemp or metal wires.
6. A system for calibrating an ultrasonic image according to any one of claims 1 to 3, wherein the imaging liquid in the cubic tank is clear water or an imaging liquid compatible with ultrasonic.
7. A calibration method of an ultrasonic image is characterized by comprising the following steps:
1) establishing a world coordinate system based on the measuring equipment;
2) arranging a characteristic point set capable of being identified by measuring equipment on the outer side of the cubic groove body, determining a position matrix of a coordinate system of the characteristic point set under the coordinate system of the measuring equipment, and knowing the position relation between the characteristic point set and an intersection point of parallel lines in a calibration model;
3) the computer determines a position matrix of the parallel line intersection point coordinate system under the coordinate system of the measuring equipment according to the known position relation and the position matrix of the feature point set coordinate system under the coordinate system of the measuring equipment;
4) placing the calibration model in a detection area of the measuring equipment;
5) fixedly arranging a probe tracer on an ultrasonic probe, arranging the ultrasonic probe in a detection area of measuring equipment, and immersing the lower part of the ultrasonic probe in imaging liquid of a cubic groove body;
6) moving the ultrasonic probe until all the intersection points of the parallel lines can be imaged under the ultrasonic condition, and acquiring an ultrasonic image in the calibration model by the ultrasonic probe;
7) and keeping the ultrasonic probe still, and determining the coordinate of any point in the ultrasonic image in the coordinate system of the probe tracer by the computer according to the position matrix of the parallel line intersection point coordinate system in the coordinate system of the measuring equipment and the position matrix of the probe tracer in the coordinate system of the measuring equipment.
8. The method for calibrating an ultrasound image according to claim 7, wherein the specific process of step 3) is as follows:
3.1) the coordinates of the parallel line intersection points under the characteristic point set coordinate system are respectively
Figure FDA0002539096640000021
And
Figure FDA0002539096640000022
recording the position matrix of the characteristic point set coordinate system under the coordinate system of the measuring equipment by the computer
Figure FDA0002539096640000023
And according to the position matrix
Figure FDA0002539096640000024
Determining the coordinates of the three parallel line intersections P1, P2 and P3 in the coordinate system of the measuring device
Figure FDA0002539096640000025
Comprises the following steps:
Figure FDA0002539096640000026
Figure FDA0002539096640000027
Figure FDA0002539096640000028
3.2) taking a parallel line intersection point P2 as an origin, taking parallel line intersection points P2 and P1 as x axes, and taking parallel line intersection points P2 and P3 as y axes, establishing a parallel line intersection point coordinate system:
Figure FDA0002539096640000029
Figure FDA00025390966400000210
Vz＝Vx×Vy
wherein, VzIs a VxAnd VyCalculating the cross product VzDirection perpendicular to VxAnd VyThe plane is in accordance with the principle of a right-hand coordinate system;
3.3) the computer determines a position matrix of the coordinate system of the parallel line intersection point under the coordinate system of the measuring equipment according to the coordinate system of the parallel line intersection point
Figure FDA00025390966400000211
Comprises the following steps:
Figure FDA00025390966400000212
wherein the content of the first and second substances,
Figure FDA00025390966400000213
and
Figure FDA00025390966400000214
the values of the coordinates of the parallel line intersection point P2 in the measuring device on the x, y and z components, respectively; vxxThe x axis of the coordinate system formed by the intersection points of the three parallel lines isMeasuring the projection length in the x-axis direction in a device coordinate system; vyxThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the x axis direction in the coordinate system of the measuring equipment; vzxThe projection length of the z axis in the coordinate system formed by the intersection points of the three parallel lines in the x axis direction in the coordinate system of the measuring equipment; vxyThe projection length of the x axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment; vyyThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the y axis direction in the coordinate system of the measuring equipment; vzyThe projection length of the z axis in the y axis direction in the coordinate system of the measuring equipment in the coordinate system formed by the intersection points of the three parallel lines; vxzThe projection length of the x axis in the coordinate system formed by the intersection points of the three parallel lines in the z axis direction in the coordinate system of the measuring equipment; vyzThe projection length of the y axis in the coordinate system formed by the intersection points of the three parallel lines in the z axis direction in the coordinate system of the measuring equipment; vzzThe projection length of the z-axis in the coordinate system formed by the intersection points of the three parallel lines in the z-axis direction in the coordinate system of the measuring equipment.
9. The method for calibrating an ultrasound image as claimed in claim 7, wherein the specific process of step 6) is as follows:
6.1) moving the ultrasonic probe until all the intersection points of the parallel lines can be imaged under the ultrasonic condition;
6.2) fine-tuning the ultrasonic probe so that the intersection point of all the parallel line intersection points is located at the midpoint of the ultrasonic image, and the parallel line intersection point P2 and the parallel line intersection point P1 are coincident with a pre-drawn auxiliary horizontal line;
6.3) at the moment, the ultrasonic probe acquires an ultrasonic image in the calibration model.
10. The method for calibrating an ultrasound image according to claim 7, wherein the specific process of step 7) is as follows:
7.1) keeping the ultrasonic probe still, and recording the position matrix of the probe tracer under the coordinate system of the measuring equipment by the computer at the moment
Figure FDA0002539096640000031
7.2) the computer determines the position matrix in the coordinate system of the measuring device according to the coordinate system of the parallel line intersection point
Figure FDA0002539096640000032
Determining the coordinates of any point (U, V) in the acquired ultrasound image in the coordinate system of the measuring device
Figure FDA0002539096640000033
Figure FDA0002539096640000034
Wherein, UCentreHalf the horizontal resolution of the ultrasound image; vCentreHalf the vertical resolution of the ultrasound image; the FOVu is the size of each pixel in the horizontal direction in the ultrasonic image; FOVv is the size of each pixel in the vertical direction in the ultrasonic image;
7.3) the computer is used for measuring the coordinates of any point (U, V) in the ultrasonic image under the coordinate system of the measuring equipment
Figure FDA0002539096640000035
And the position matrix of the probe tracer in the coordinate system of the measuring equipment
Figure FDA0002539096640000036
Determining the coordinates of any point (U, V) in the ultrasound image in the probe tracer coordinate system
Figure FDA0002539096640000037
Figure FDA0002539096640000038
Wherein the content of the first and second substances,
Figure FDA0002539096640000039
as a position matrix
Figure FDA00025390966400000310
The inverse matrix of (c).
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